研究業績リスト
ジャーナル論文 - rm_published_papers: International Conference Proceedings
Robotic Pre-grasp Strategy Based on Feeling for Surfaces with Proximity Sensors
公開済 03/12/2025
2025 15th France-Japan & 13th Europe-Asia Congress on Mechatronics (MECATRONICS) / 23rd International Conference on Research and Education in Mechatronics (REM), 1 - 6
ジャーナル論文 - rm_published_papers: International Conference Proceedings
公開済 30/10/2025
AI Enabled Robotic Loco-Manipulation, in Proceedings of International Conference on Climbing and Walking Robots, 102 - 113
ジャーナル論文 - rm_published_papers: International Conference Proceedings
Motion Control of Legged Robots with Structural Joint Stops
公開済 09/2025
2025 SICE Festival with Annual Conference, (in press)
ジャーナル論文 - rm_published_papers: Scientific Journal
Development of an Oblique Cone Dielectric Elastomer Actuator Module-Connected Vertebrate Fish Robot
公開済 04/06/2025
Biomimetics, 10, 6, 365 - 365
As a soft actuator for fish robots, an oblique cone dielectric elastomer actuator (DEA) module inspired by the structure of white muscles in fish was proposed in the authors’ previous study. However, a mathematical model of an oblique cone DEA was not established, and designing a drive module that took into account its driving characteristics and passivity for integration into a fish robot remained a challenge. The purpose of this paper is to develop a vertebrate fish robot using multiple oblique cone DEA modules to achieve fish-like bending capability. First, an oblique cone DEA module was modeled for the design of a fish robot. The relationships among bending angle, blocking torque, driving voltage, and design parameters were established and confirmed by comparing the calculated and experimental results. Based on the modeling results, we designed an oblique cone DEA module-connected vertebrate fish robot. Finally, the experimental results of the fabricated fish robot demonstrated that the model-based design enabled flexible body swinging and swimming through a multiple-module-connected vertebrate structure.
ジャーナル論文 - rm_published_papers: Scientific Journal
Development of an Oblique Cone Dielectric Elastomer Actuator Module-Connected Vertebrate Fish Robot
公開済 04/06/2025
Biomimetics, 10, 6, 365 - 365
As a soft actuator for fish robots, an oblique cone dielectric elastomer actuator (DEA) module inspired by the structure of white muscles in fish was proposed in the authors’ previous study. However, a mathematical model of an oblique cone DEA was not established, and designing a drive module that took into account its driving characteristics and passivity for integration into a fish robot remained a challenge. The purpose of this paper is to develop a vertebrate fish robot using multiple oblique cone DEA modules to achieve fish-like bending capability. First, an oblique cone DEA module was modeled for the design of a fish robot. The relationships among bending angle, blocking torque, driving voltage, and design parameters were established and confirmed by comparing the calculated and experimental results. Based on the modeling results, we designed an oblique cone DEA module-connected vertebrate fish robot. Finally, the experimental results of the fabricated fish robot demonstrated that the model-based design enabled flexible body swinging and swimming through a multiple-module-connected vertebrate structure.
ジャーナル論文 - rm_published_papers: Scientific Journal
Analytical and Experimental Study on a Versatile Landing System with Shock Response Mechanism
公開済 02/2025
Aerospace Science and Technology, 157, 109807, 1 - 17
ジャーナル論文 - rm_published_papers: Scientific Journal
公開済 01/2025
Sensors, 25, 2, 470
ジャーナル論文 - rm_published_papers: International Conference Proceedings
Development of DEA Underwater Robot Mimicking Fish White Muscle Structure
公開済 11/12/2024
Proceedings of the 2024 IEEE International Conference on Robotics and Biomimetics, 687 - 692
ジャーナル論文 - rm_published_papers: Scientific Journal
Development of a new gear profile measuring machine with five-link closed-loop mechanism
公開済 12/2024
Precision Engineering, 91, 739 - 751
ジャーナル論文 - rm_published_papers: Scientific Journal
Development of a Multifingered Hand with Proximity Sensors for Aerial Manipulation
公開済 11/2024
IEEE Sensors Journal, 24, 21, 35664 - 35672